OpenRaiser/Intern-Atlas huggingface dataset:
PointCG: Self-supervised Point Cloud Learning via Joint Completion and Generation
Venue: arXiv cs.CV 2024
Year: 2024

The core of self-supervised point cloud learning lies in setting up appropriate pretext tasks, to construct a pre-training framework that enables the encoder to perceive 3D objects effectively. In this paper, we integrate two prevalent methods, masked point modeling (MPM) and 3D-to-2D generation, as pretext tasks within a pre-training framework. We leverage the spatial awareness and precise supervision offered by these two methods to address their respective limitations: ambiguous supervision signals and insensitivity to geometric information. Specifically, the proposed framework, abbreviated as PointCG, consists of a Hidden Point Completion (HPC) module and an Arbitrary-view Image Generation (AIG) module. We first capture visible points from arbitrary views as inputs by removing hidden points. Then, HPC extracts representations of the inputs with an encoder and completes the entire shape with a decoder, while AIG is used to generate rendered images based on the visible points' representations. Extensive experiments demonstrate the superiority of the proposed method over the baselines in various downstream tasks. Our code will be made available upon acceptance.
Diversity and Inclusion in AI for Recruitment: Lessons from Industry Workshop
Venue: arXiv cs.AI 2024
Year: 2024

Artificial Intelligence (AI) systems for online recruitment markets have the potential to significantly enhance the efficiency and effectiveness of job placements and even promote fairness or inclusive hiring practices. Neglecting Diversity and Inclusion (D&I) in these systems, however, can perpetuate biases, leading to unfair hiring practices and decreased workplace diversity, while exposing organisations to legal and reputational risks. Despite the acknowledged importance of D&I in AI, there is a gap in research on effectively implementing D&I guidelines in real-world recruitment systems. Challenges include a lack of awareness and framework for operationalising D&I in a cost-effective, context-sensitive manner. This study aims to investigate the practical application of D&I guidelines in AI-driven online job-seeking systems, specifically exploring how these principles can be operationalised to create more inclusive recruitment processes. We conducted a co-design workshop with a large multinational recruitment company focusing on two AI-driven recruitment use cases. User stories and personas were applied to evaluate the impacts of AI on diverse stakeholders. Follow-up interviews were conducted to assess the workshop's long-term effects on participants' awareness and application of D&I principles. The co-design workshop successfully increased participants' understanding of D&I in AI. However, translating awareness into operational practice posed challenges, particularly in balancing D&I with business goals. The results suggest developing tailored D&I guidelines and ongoing support to ensure the effective adoption of inclusive AI practices.
Zyda-2: a 5 Trillion Token High-Quality Dataset
Venue: arXiv cs.CL 2024
Year: 2024

In this technical report, we present Zyda-2: a five trillion token dataset for language model pretraining. Zyda-2 was used to train our Zamba2 series of models which are state-of-the-art for their weight class. We build Zyda-2 by collating high-quality open-source tokens such as FineWeb and DCLM, then distilling them to the highest-quality subset via cross-deduplication and model-based quality filtering. Zyda-2 is released under a permissive open license, and is available at https://huggingface.co/datasets/Zyphra/Zyda-2
GlocalCLIP: Object-agnostic Global-Local Prompt Learning for Zero-shot Anomaly Detection
Venue: arXiv cs.CV 2024
Year: 2024

Zero-shot anomaly detection (ZSAD) is crucial for detecting anomalous patterns in target datasets without using training samples, specifically in scenarios where there are distributional differences between the target domain and training data or where data scarcity arises because of restricted access. Although recently pretrained vision-language models demonstrate strong zero-shot performance across various visual tasks, they focus on learning class semantics, which makes their direct application to ZSAD challenging. To address this scenario, we propose GlocalCLIP, which uniquely separates global and local prompts and jointly optimizes them. This approach enables the object-agnostic glocal semantic prompt to effectively capture general normal and anomalous patterns without dependency on specific objects in the image. We refine the text prompts for more precise adjustments by utilizing deep-text prompt tuning in the text encoder. In the vision encoder, we apply V-V attention layers to capture detailed local image features. Finally, we introduce glocal contrastive learning to improve the complementary learning of global and local prompts, effectively detecting anomalous patterns across various domains. The generalization performance of GlocalCLIP in ZSAD was demonstrated on 15 real-world datasets from both the industrial and medical domains, achieving superior performance compared to existing methods. Code will be made available at https://github.com/YUL-git/GlocalCLIP.
Research on reinforcement learning based warehouse robot navigation algorithm in complex warehouse layout
Venue: arXiv cs.RO 2024
Year: 2024

In this paper, how to efficiently find the optimal path in complex warehouse layout and make real-time decision is a key problem. This paper proposes a new method of Proximal Policy Optimization (PPO) and Dijkstra's algorithm, Proximal policy-Dijkstra (PP-D). PP-D method realizes efficient strategy learning and real-time decision making through PPO, and uses Dijkstra algorithm to plan the global optimal path, thus ensuring high navigation accuracy and significantly improving the efficiency of path planning. Specifically, PPO enables robots to quickly adapt and optimize action strategies in dynamic environments through its stable policy updating mechanism. Dijkstra's algorithm ensures global optimal path planning in static environment. Finally, through the comparison experiment and analysis of the proposed framework with the traditional algorithm, the results show that the PP-D method has significant advantages in improving the accuracy of navigation prediction and enhancing the robustness of the system. Especially in complex warehouse layout, PP-D method can find the optimal path more accurately and reduce collision and stagnation. This proves the reliability and effectiveness of the robot in the study of complex warehouse layout navigation algorithm.
Towards an Efficient Synthetic Image Data Pipeline for Training Vision-Based Robot Systems
Venue: arXiv cs.RO 2024
Year: 2024

Training data is an essential resource for creating capable and robust vision systems which are integral to the proper function of many robotic systems. Synthesized training data has been shown in recent years to be a viable alternative to manually collecting and labelling data. In order to meet the rising popularity of synthetic image training data we propose a framework for defining synthetic image data pipelines. Additionally we survey the literature to identify the most promising candidates for components of the proposed pipeline. We propose that defining such a pipeline will be beneficial in reducing development cycles and coordinating future research.
Weak to Strong Learning from Aggregate Labels
Venue: arXiv cs.LG 2024
Year: 2024

In learning from aggregate labels, the training data consists of sets or "bags" of feature-vectors (instances) along with an aggregate label for each bag derived from the (usually {0,1}-valued) labels of its instances. In learning from label proportions (LLP), the aggregate label is the average of the bag's instance labels, whereas in multiple instance learning (MIL) it is the OR. The goal is to train an instance-level predictor, typically achieved by fitting a model on the training data, in particular one that maximizes the accuracy which is the fraction of satisfied bags i.e., those on which the predicted labels are consistent with the aggregate label. A weak learner has at a constant accuracy < 1 on the training bags, while a strong learner's accuracy can be arbitrarily close to 1. We study the problem of using a weak learner on such training bags with aggregate labels to obtain a strong learner, analogous to supervised learning for which boosting algorithms are known. Our first result shows the impossibility of boosting in LLP using weak classifiers of any accuracy < 1 by constructing a collection of bags for which such weak learners (for any weight assignment) exist, while not admitting any strong learner. A variant of this construction also rules out boosting in MIL for a non-trivial range of weak learner accuracy. In the LLP setting however, we show that a weak learner (with small accuracy) on large enough bags can in fact be used to obtain a strong learner for small bags, in polynomial time. We also provide more efficient, sampling based variant of our procedure with probabilistic guarantees which are empirically validated on three real and two synthetic datasets. Our work is the first to theoretically study weak to strong learning from aggregate labels, with an algorithm to achieve the same for LLP, while proving the impossibility of boosting for both LLP and MIL.
Advanced Wildfire Prediction in Morocco: Developing a Deep Learning Dataset from Multisource Observations
Venue: arXiv cs.LG 2024
Year: 2024

Wildfires pose significant threats to ecosystems, economies, and communities worldwide, necessitating advanced predictive methods for effective mitigation. This study introduces a novel and comprehensive dataset specifically designed for wildfire prediction in Morocco, addressing its unique geographical and climatic challenges. By integrating satellite observations and ground station data, we compile essential environmental indicators such as vegetation health (NDVI), population density, soil moisture levels, and meteorological data aimed at predicting next-day wildfire occurrences with high accuracy. Our methodology incorporates state-of-the-art machine learning and deep learning algorithms, demonstrating superior performance in capturing wildfire dynamics compared to traditional models. Preliminary results show that models using this dataset achieve an accuracy of up to 90%, significantly improving prediction capabilities. The public availability of this dataset fosters scientific collaboration, aiming to refine predictive models and develop innovative wildfire management strategies. Our work not only advances the technical field of dataset creation but also emphasizes the necessity for localized research in underrepresented regions, providing a scalable model for other areas facing similar environmental challenges.
Motion Modification Method of Musculoskeletal Humanoids by Human Teaching Using Muscle-Based Compensation Control
Venue: arXiv cs.RO 2024
Year: 2024

While musculoskeletal humanoids have the advantages of various biomimetic structures, it is difficult to accurately control the body, which is challenging to model. Although various learning-based control methods have been developed so far, they cannot completely absorb model errors, and recognition errors are also bound to occur. In this paper, we describe a method to modify the movement of the musculoskeletal humanoid by applying external force during the movement, taking advantage of its flexible body. Considering the fact that the joint angles cannot be measured, and that the external force greatly affects the nonlinear elastic element and not the actuator, the modified motion is reproduced by the proposed muscle-based compensation control. This method is applied to a musculoskeletal humanoid, Musashi, and its effectiveness is confirmed.
Emotion-Aware Interaction Design in Intelligent User Interface Using Multi-Modal Deep Learning
Venue: arXiv cs.HC 2024
Year: 2024

In an era where user interaction with technology is ubiquitous, the importance of user interface (UI) design cannot be overstated. A well-designed UI not only enhances usability but also fosters more natural, intuitive, and emotionally engaging experiences, making technology more accessible and impactful in everyday life. This research addresses this growing need by introducing an advanced emotion recognition system to significantly improve the emotional responsiveness of UI. By integrating facial expressions, speech, and textual data through a multi-branch Transformer model, the system interprets complex emotional cues in real-time, enabling UIs to interact more empathetically and effectively with users. Using the public MELD dataset for validation, our model demonstrates substantial improvements in emotion recognition accuracy and F1 scores, outperforming traditional methods. These findings underscore the critical role that sophisticated emotion recognition plays in the evolution of UIs, making technology more attuned to user needs and emotions. This study highlights how enhanced emotional intelligence in UIs is not only about technical innovation but also about fostering deeper, more meaningful connections between users and the digital world, ultimately shaping how people interact with technology in their daily lives.
Will Central Bank Digital Currencies (CBDC) and Blockchain Cryptocurrencies Coexist in the Post Quantum Era?
Venue: arXiv cs.CR 2024
Year: 2024

This paper explores the coexistence possibilities of Central Bank Digital Currencies (CBDCs) and blockchain-based cryptocurrencies within a post-quantum computing landscape. It examines the implications of emerging quantum algorithms and cryptographic techniques such as Multi-Party Computation (MPC) and Oblivious Transfer (OT). While exploring how CBDCs and cryptocurrencies might integrate defenses like post-quantum cryptography, it highlights the substantial hurdles in transitioning legacy systems and fostering widespread adoption of new standards. The paper includes comprehensive evaluations of CBDCs in a quantum context. It also features comparisons to alternative cryptocurrency models. Additionally, the paper provides insightful analyses of pertinent quantum methodologies. Examinations of interfaces between these methods and blockchain architectures are also included. The paper carries out considered appraisals of quantum threats and their relevance for cryptocurrency schemes. Furthermore, it features discussions of the influence of anticipated advances in quantum computing on algorithms and their applications. The paper renders the judicious conclusion that long-term coexistence is viable provided challenges are constructively addressed through ongoing collaborative efforts to validate solutions and guide evolving policies.
BayesNAM: Leveraging Inconsistency for Reliable Explanations
Venue: arXiv cs.LG 2024
Year: 2024

Neural additive model (NAM) is a recently proposed explainable artificial intelligence (XAI) method that utilizes neural network-based architectures. Given the advantages of neural networks, NAMs provide intuitive explanations for their predictions with high model performance. In this paper, we analyze a critical yet overlooked phenomenon: NAMs often produce inconsistent explanations, even when using the same architecture and dataset. Traditionally, such inconsistencies have been viewed as issues to be resolved. However, we argue instead that these inconsistencies can provide valuable explanations within the given data model. Through a simple theoretical framework, we demonstrate that these inconsistencies are not mere artifacts but emerge naturally in datasets with multiple important features. To effectively leverage this information, we introduce a novel framework, Bayesian Neural Additive Model (BayesNAM), which integrates Bayesian neural networks and feature dropout, with theoretical proof demonstrating that feature dropout effectively captures model inconsistencies. Our experiments demonstrate that BayesNAM effectively reveals potential problems such as insufficient data or structural limitations of the model, providing more reliable explanations and potential remedies.
SymmeTac: Symmetric Color LED Driven Efficient Photometric Stereo Reconstruction Methods for Camera-based Tactile Sensors
Venue: arXiv cs.RO 2024
Year: 2024

Camera-based tactile sensors can provide high-density surface geometry and force information for robots in the interaction process with the target. However, most existing methods cannot achieve accurate reconstruction with high efficiency, impeding the applications in robots. To address these problems, we propose an efficient two-shot photometric stereo method based on symmetric color LED distribution. Specifically, based on the sensing response curve of CMOS channels, we design orthogonal red and blue LEDs as illumination to acquire four observation maps using channel-splitting in a two-shot manner. Subsequently, we develop a two-shot photometric stereo theory, which can estimate accurate surface normal and greatly reduce the computing overhead in magnitude. Finally, leveraging the characteristics of the camera-based tactile sensor, we optimize the algorithm to be a highly efficient, pure addition operation. Simulation and real-world experiments demonstrate the advantages of our approach. Further details are available on: https://github.com/Tacxels/SymmeTac.
Class Granularity: How richly does your knowledge graph represent the real world?
Venue: arXiv cs.AI 2024
Year: 2024

To effectively manage and utilize knowledge graphs, it is crucial to have metrics that can assess the quality of knowledge graphs from various perspectives. While there have been studies on knowledge graph quality metrics, there has been a lack of research on metrics that measure how richly ontologies, which form the backbone of knowledge graphs, are defined or the impact of richly defined ontologies. In this study, we propose a new metric called Class Granularity, which measures how well a knowledge graph is structured in terms of how finely classes with unique characteristics are defined. Furthermore, this research presents potential impact of Class Granularity in knowledge graph's on downstream tasks. In particular, we explore its influence on graph embedding and provide experimental results. Additionally, this research goes beyond traditional Linked Open Data comparison studies, which mainly focus on factors like scale and class distribution, by using Class Granularity to compare four different LOD sources.
A Variance Minimization Approach to Temporal-Difference Learning
Venue: arXiv cs.LG 2024
Year: 2024

Fast-converging algorithms are a contemporary requirement in reinforcement learning. In the context of linear function approximation, the magnitude of the smallest eigenvalue of the key matrix is a major factor reflecting the convergence speed. Traditional value-based RL algorithms focus on minimizing errors. This paper introduces a variance minimization (VM) approach for value-based RL instead of error minimization. Based on this approach, we proposed two objectives, the Variance of Bellman Error (VBE) and the Variance of Projected Bellman Error (VPBE), and derived the VMTD, VMTDC, and VMETD algorithms. We provided proofs of their convergence and optimal policy invariance of the variance minimization. Experimental studies validate the effectiveness of the proposed algorithms.
Locally Adaptive One-Class Classifier Fusion with Dynamic $\ell$p-Norm Constraints for Robust Anomaly Detection
Venue: arXiv cs.LG 2024
Year: 2024

This paper presents a novel approach to one-class classifier fusion through locally adaptive learning with dynamic $\ell$p-norm constraints. We introduce a framework that dynamically adjusts fusion weights based on local data characteristics, addressing fundamental challenges in ensemble-based anomaly detection. Our method incorporates an interior-point optimization technique that significantly improves computational efficiency compared to traditional Frank-Wolfe approaches, achieving up to 19-fold speed improvements in complex scenarios. The framework is extensively evaluated on standard UCI benchmark datasets and specialized temporal sequence datasets, demonstrating superior performance across diverse anomaly types. Statistical validation through Skillings-Mack tests confirms our method's significant advantages over existing approaches, with consistent top rankings in both pure and non-pure learning scenarios. The framework's ability to adapt to local data patterns while maintaining computational efficiency makes it particularly valuable for real-time applications where rapid and accurate anomaly detection is crucial.
A Taxonomy of Hoare-Like Logics: Towards a Holistic View using Predicate Transformers and Kleene Algebras with Top and Tests
Venue: arXiv cs.PL 2024
Year: 2024

We study Hoare-like logics, including partial and total correctness Hoare logic, incorrectness logic, Lisbon logic, and many others through the lens of predicate transformers à la Dijkstra and through the lens of Kleene algebra with top and tests (TopKAT). Our main goal is to give an overview - a taxonomy - of how these program logics relate, in particular under different assumptions like for example program termination, determinism, and reversibility. As a byproduct, we obtain a TopKAT characterization of Lisbon logic, which - to the best of our knowledge - is a novel result.
Neuro-Symbolic Rule Lists
Venue: arXiv cs.LG 2024
Year: 2024

Machine learning models deployed in sensitive areas such as healthcare must be interpretable to ensure accountability and fairness. Rule lists (if Age < 35 $\wedge$ Priors > 0 then Recidivism = True, else if Next Condition . . . ) offer full transparency, making them well-suited for high-stakes decisions. However, learning such rule lists presents significant challenges. Existing methods based on combinatorial optimization require feature pre-discretization and impose restrictions on rule size. Neuro-symbolic methods use more scalable continuous optimization yet place similar pre-discretization constraints and suffer from unstable optimization. To address the existing limitations, we introduce NeuRules, an end-to-end trainable model that unifies discretization, rule learning, and rule order into a single differentiable framework. We formulate a continuous relaxation of the rule list learning problem that converges to a strict rule list through temperature annealing. NeuRules learns both the discretizations of individual features, as well as their combination into conjunctive rules without any pre-processing or restrictions. Extensive experiments demonstrate that NeuRules consistently outperforms both combinatorial and neuro-symbolic methods, effectively learning simple and complex rules, as well as their order, across a wide range of datasets.